Multi-mode perception feedback rehabilitation glove

Abstract

The utility model relates to the technical field of rehabilitation instruments, and discloses a multi-mode perception feedback rehabilitation glove which comprises a glove body, the glove body comprises a palm part and finger parts connected with the palm part, joint bending sensing modules are arranged at the joints of the back faces of the finger parts, and the joint bending sensing modules are connected with the palm part. A fingertip pressure sensing module is arranged at the finger pulp of the finger part, and a pneumatic feedback module for providing touch force feedback is further arranged on the finger part; the joint bending sensing module and the fingertip pressure sensing module are each internally provided with a micro-channel capable of containing liquid metal. By means of multiple characteristics of liquid metal, multi-dimensional sensing functions such as joint bending, fingertip pressure and friction slippage are integrated with a force and heat sense feedback function, hand actions of a patient are more accurately and widely sensed, and the function richness and practicability of the rehabilitation glove are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation equipment technology, specifically to a multimodal sensory feedback rehabilitation glove. Background Technology

[0002] Stroke, rheumatoid arthritis, spinal cord injury, and other diseases or accidents can lead to partial or complete loss of hand function, resulting in limited finger movement and insufficient hand muscle strength. Currently, traditional rehabilitation primarily relies on one-on-one rehabilitation training conducted by physicians using manual therapy or simple equipment. Physicians help patients repair damaged nerves through extensive repetitive movements to restore hand function. However, with the increasing number of stroke patients each year, the shortage of rehabilitation physicians and resources has become a major problem. Insufficient resources make it difficult to guarantee the efficiency, intensity, and precision of rehabilitation training, which is detrimental to patients' rehabilitation.

[0003] The emergence of rehabilitation robotic gloves has provided a new solution for patients' rehabilitation training. These devices can help patients perform actions such as finger opposition, opening, gripping, and pinching, effectively reducing muscle tension, relieving joint edema and stiffness, and accelerating the recovery process of hand function. Furthermore, with the development of sensor feedback and artificial intelligence technologies, sensing units are gradually being integrated into rehabilitation equipment; currently, wearable tactile sensors mainly focus on piezoresistive and capacitive powered sensing modes, as well as self-powered sensing modes using piezoelectric and triboelectric mechanisms.

[0004] However, existing rehabilitation robotic gloves still suffer from the following technical problems: First, the lack of high-precision sensing and feedback mechanisms is a common issue with current rehabilitation gloves. Although there is considerable research on flexible sensing and feedback, it is rarely integrated into rehabilitation gloves. Most rehabilitation gloves are still primarily designed based on mechanical traction, relying on a single mechanical sensor or simple mechanical design. They lack the ability to perceive dynamic signals such as force and slippage, or their sensing accuracy is low. They cannot accurately monitor hand movements when dealing with minute changes in motion, nor can they provide realistic tactile and force feedback. Second, these gloves are usually made of rigid or semi-rigid materials, resulting in poor wearing comfort. Patients are prone to fatigue or discomfort after prolonged wear, which in turn affects the rehabilitation effect. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a multimodal sensing and feedback rehabilitation glove. By integrating a flexible sensing module and feedback unit with liquid metal microchannels, it improves sensing accuracy and feedback richness. Combined with the natural conforming properties of flexible materials, it enhances wearing comfort and reduces fatigue caused by prolonged use. Utilizing the multiple electromechanical properties of liquid metal and incorporating piezoresistive and triboelectric sensing mechanisms, it achieves multidimensional sensing of dynamic signals such as force and slippage, breaking through the single-function limitations of traditional rehabilitation gloves and providing patients with a more natural, precise, and efficient rehabilitation experience.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a multimodal sensory feedback rehabilitation glove, comprising a glove body, the glove body including a palm part and finger parts connected thereto, a joint bending sensing module provided at the back joint of the finger part, a fingertip pressure sensing module provided at the fingertip of the finger part, and a pneumatic feedback module for providing tactile force feedback on the finger part; wherein, both the joint bending sensing module and the fingertip pressure sensing module are provided with microchannels capable of containing liquid metal inside.

[0007] Optionally, the joint bending sensing module includes a first elastic film, on which a first groove is formed, and a second elastic film is provided on one side of the first elastic film for closing the first groove to form a first microchannel.

[0008] Optionally, the first microchannel adopts a serpentine loop structure.

[0009] Optionally, the fingertip pressure sensing module includes a third elastic film, on which a second groove is formed, and a fourth elastic film is provided on one side of the third elastic film for closing the second groove to form a second microchannel.

[0010] Optionally, the second microchannel adopts a fingerprint-like structure.

[0011] Optionally, the pneumatic feedback module includes a housing, a cover plate installed on one side of the housing, a baffle provided inside the housing to divide the inner cavity of the housing into two independent air chambers, and two vents respectively connected to the two air chambers on the housing.

[0012] Optionally, the air chambers adopt a U-shaped structure, and each air chamber has a protrusion at its center.

[0013] Optionally, the glove body is provided with multiple receiving parts, and the joint bending sensing module, the fingertip pressure sensing module and the pneumatic feedback module are respectively inserted into the receiving parts at corresponding positions.

[0014] Optionally, the receiving element is fixedly disposed on the glove body, and the receiving element is an elastic fabric pocket.

[0015] Optionally, the joint bending sensing module is provided at the web between the thumb and index finger on the back of the palm.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] (1) In this utility model, by utilizing the multiple properties of liquid metal, the multi-dimensional sensing functions such as joint bending, fingertip pressure, friction and slippage are integrated with the force and heat feedback function, which can more accurately and widely perceive the patient's hand movements and significantly improve the functionality and practicality of the rehabilitation glove.

[0018] (2) In this utility model, the modular design of the sensing and feedback function modules can be inserted or replaced through elastic fabric pockets, which is convenient for upgrading and maintenance, and can also be customized according to different user needs, thus improving applicability;

[0019] (3) In this utility model, the pneumatic feedback module covers the entire finger and palm surface and adopts a concave air cavity design to avoid the joint movement area, which greatly increases the feedback area while ensuring comfort and provides more uniform and realistic tactile feedback. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the multimodal sensing feedback rehabilitation glove (back of the hand) in an embodiment of this utility model;

[0021] Figure 2 This is a structural schematic diagram of the multimodal sensing feedback rehabilitation glove (palm surface) in an embodiment of this utility model;

[0022] Figure 3 This is a schematic diagram showing the positional structure of the pneumatic feedback module distributed on the glove body in an embodiment of this utility model;

[0023] Figure 4 This is an exploded structural diagram of the joint bending sensing module in an embodiment of this utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the first microchannel in an embodiment of this utility model;

[0025] Figure 6 This is an exploded structural diagram of the fingertip pressure sensing module in an embodiment of this utility model;

[0026] Figure 7 This is a schematic diagram of the structure of the second microchannel in an embodiment of this utility model;

[0027] Figure 8This is an exploded structural diagram of the pneumatic feedback module in an embodiment of this utility model;

[0028] Among them, 1. glove body; 11. palm; 111. web of the hand; 12. fingers; 121. metacarpophalangeal joints; 122. proximal interphalangeal joints;

[0029] 2. Joint bending sensing module; 21. First elastic film; 22. First groove; 23. First microchannel; 24. Second elastic film; 25. First liquid metal;

[0030] 3. Finger pressure sensing module; 31. Third elastic film; 32. Second groove; 33. Second microchannel; 34. Fourth elastic film; 35. Second liquid metal;

[0031] 4. Pneumatic feedback module; 41. Housing; 42. Cover plate; 43. Stop block; 44. Vent; 45. Air chamber; 46. Protrusion. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0033] Example 1, as Figure 1 , Figure 2 and Figure 3 As shown, a multimodal sensory feedback rehabilitation glove includes a glove body 1, which includes a palm part 11 and a finger part 12 connected thereto. A joint bending sensing module 2 is provided at the back joint of the finger part 12, a fingertip pressure sensing module 3 is provided at the finger pad of the finger part 12, and a pneumatic feedback module 4 for providing tactile force feedback is also provided on the finger part 12.

[0034] Both the joint bending sensing module 2 and the fingertip pressure sensing module 3 have microchannels inside that can accommodate liquid metal. The joint bending sensing module 2 detects the joint bending angle by the expansion of the liquid metal microchannels caused by finger bending, while the fingertip pressure sensing module 3 senses changes in fingertip pressure and performs tactile perception by the decrease in the cross-sectional area of ​​the liquid metal microchannels when pressure is applied.

[0035] By integrating a flexible sensing module and feedback unit with liquid metal microchannels, the sensing accuracy and feedback richness are improved. Combined with the natural conforming properties of flexible materials, wearing comfort is enhanced, reducing fatigue caused by prolonged use. Leveraging the multiple electromechanical properties of liquid metal, and incorporating piezoresistive and triboelectric sensing mechanisms, multidimensional sensing of dynamic signals such as force and slippage is achieved, breaking through the single-function limitations of traditional rehabilitation gloves and providing patients with a more natural, precise, and efficient rehabilitation experience.

[0036] The finger portion 12 includes the thumb, index finger, middle finger, ring finger, and little finger. The joints include the metacarpophalangeal joint 121 and the proximal interphalangeal joint 122 near the metacarpophalangeal joint 121, which can more comprehensively sense and provide feedback on hand movements. There are 11 joint bending sensing modules 2 located at the metacarpophalangeal joint 121, the proximal interphalangeal joint 122, and the web of the thumb 111 of the finger portion 12. There are 5 fingertip pressure sensing modules 3 located at the fingertips of each finger. There are 5 pneumatic feedback modules 4 located on the palmar surface of each finger.

[0037] Furthermore, in order to detect the joint bending angle more comprehensively, a joint bending sensing module 2 is also provided at the web between the thumb and index finger on the back of the palm 11 to facilitate the detection of the opening and closing movements of the thumb.

[0038] In addition, the glove body 1 is made of spandex fabric, but is not limited to spandex fabric. Other lightweight and hand-fitting fabrics are also acceptable and are not limited here.

[0039] like Figure 4 and Figure 5 As shown, the joint bending sensing module 2 includes a first elastic film 21, a first groove 22 is formed on the first elastic film 21, a second elastic film 24 is provided on one side of the first elastic film 21 for closing the first groove 22 to form a first microchannel 23, and a first liquid metal 25 is provided in the first microchannel 23.

[0040] When the finger joint 12 is bent, the joint bending sensing module 2 is stretched, which causes the length of the first liquid metal 25 in the first microchannel 23 to change. The overall resistance of the first liquid metal 25 changes, which in turn causes the output voltage to change. The bending angle of the joint is used to determine the bending status of the patient's finger joint.

[0041] The first elastic film 21 and the second elastic film 24 are bonded together, resulting in a stable connection and improved sealing of the first microchannel 23. The first microchannel 23 adopts a serpentine structure with a channel width of 90-110 μm, a channel length of 15-25 mm, and an interval of 0.6-1.0 mm between adjacent channels. The joint bending sensing module 2 has 5-20 grid lines, which is simple to manufacture while ensuring the sensitivity of the joint bending sensing module 2. The grid lines refer to the number of bends of the first liquid metal 25 within the first microchannel 23.

[0042] Specifically, a joint bending sensing module 2 is fabricated using liquid metal microchannels as the conductive layer and PDMS (polydimethylsiloxane) as the elastic substrate; the first microchannel 23 has a longitudinal channel width of 100μm, a length of 20mm, a spacing of 0.8mm, and 10 grid lines.

[0043] like Figure 6 and Figure 7 As shown, the fingertip pressure sensing module 3 includes a third elastic film 31, a second groove 32 is formed on the third elastic film 31, a fourth elastic film 34 is provided on one side of the third elastic film 31 for closing the second groove 32 to form a second microchannel 33, and a second liquid metal 35 is present in the second microchannel 33.

[0044] A fingertip pressure sensing module 3 is fabricated using liquid metal microchannels as the conductive layer and PDMS as the elastic substrate, combined with a fingerprint-inspired surface texture process. Triboelectric effect is based on the phenomenon where opposite electrostatic charges are transferred through an external circuit when two media with different electronegativity come into contact on their surfaces. This can be used to convert mechanical force into an electrical signal for physical sensing. By adding a fingerprint-inspired microstructure layer to the device surface and introducing a triboelectric sensing mechanism through the contact between the second liquid metal 35 and the third and fourth elastic films 31 and 34, the high dynamic response characteristics of the triboelectric signal are utilized to enhance the sensing of dynamic conditions such as slippage.

[0045] The fingerprint-like sensor can not only sense the magnitude of continuously changing static pressure based on the piezoresistive sensing mechanism, but also sense minute force signals with highly dynamic changes such as friction and slippage based on the triboelectric sensing mechanism, thus realizing multi-dimensional and multi-modal sensing functions.

[0046] When pressure is applied to the fingertip, the fingertip pressure sensing module 3 is squeezed, and the thickness of the fingertip pressure sensing module 3 decreases. As a result, the thickness of the second liquid metal 35 in the second microchannel 33 decreases, leading to a smaller cross-sectional area. This change in cross-sectional area causes a change in the resistance value of the second liquid metal 35. The change in resistance value causes a change in the output voltage, thus the pressure applied to the fingertip can be used to determine the pressure applied to the patient's finger 12.

[0047] The first liquid metal 25 and the second liquid metal 35 are both gallium indium tin alloys, including 68.5% Ga, 21.5% In and 10% Sn; the channel width of the second microchannel 33 is in the range of 90-110 μm, and the channel width of the second microchannel 33 can preferably be 100 μm.

[0048] The third elastic film 31 and the fourth elastic film 34 are also bonded together, resulting in a stable connection that improves the airtightness of the second microchannel 33. Preferably, both the third elastic film 31 and the fourth elastic film 34 are made of PDMS material.

[0049] like Figure 8As shown, the pneumatic feedback module 4 includes a housing 41, a cover plate 42 installed on one side of the housing 41, and a baffle 43 disposed inside the housing 41, dividing the inner cavity of the housing 41 into two independent air chambers 45. The housing 41 also has two vents 44 that communicate with the two air chambers 45 respectively. The air chambers 45 have a U-shaped structure, and each air chamber 45 has a protrusion 46 at its center.

[0050] To simulate environmental feedback with different forces and tactile sensations, fully utilize the tactile sensitivity of the skin, and consider the user's finger movement needs, the pneumatic feedback module 4 is set on the palmar surface of each finger. Each pneumatic feedback module 4 contains two concave air chambers 45, which are located on both sides of the finger joint, avoiding the core area of ​​joint movement, and ensuring that the fingers are not hindered in flexion, extension, grasping and other actions.

[0051] By using a pneumatic diaphragm actuator, a tiny air pump is used to transmit air pressure to drive the elastic diaphragm air chamber 45 to achieve tactile feedback on the entire finger and palm surface. By adjusting the air pressure and frequency output by the air pump, various force feedbacks can be provided to realize the visualization of tactile feedback signals.

[0052] The pneumatic feedback module 4 is prepared using a mold-making process. A smooth and flat mold is obtained through modeling, 3D printing, secondary curing, and post-processing. The two agents A and B of Ecoflex 00-50 are mixed and stirred evenly in a 1:1 ratio and then poured into the mold. After standing at room temperature for 2 hours, it can be obtained after solidification.

[0053] Both the joint bending sensing module 2 and the fingertip pressure sensing module 3 have thermal feedback functionality. When executing the thermal feedback function, a time-division multiplexing principle is adopted. Based on the thermal resistance effect, power is supplied to the first liquid metal 25 and the second liquid metal 35 respectively via an external power source. Simultaneously, the input power is adjusted to control the temperature changes within the first microchannel 23 and the second microchannel 33, thereby achieving thermal feedback. This avoids module redundancy and complexity, optimizing the overall design.

[0054] Force and temperature feedback are key to achieving intelligent stimulation therapy in rehabilitation equipment. Common force feedback techniques are mainly divided into two types: epidermal feedback and kinesthetic feedback. Epidermal feedback technology primarily acts on receptors within the skin to provide two-dimensional tactile feedback, while kinesthetic feedback primarily acts on receptors in the muscle spindles to provide three-dimensional position and motion feedback. Temperature feedback can meet patients' needs for high and low temperatures during rehabilitation and can be used to adjust the material's mechanical parameters required for force feedback.

[0055] When used by patients, this flexible rehabilitation glove uses the joint flexion sensing module 2 and the fingertip pressure sensing module 3 to achieve high-precision sensing of multi-dimensional signals such as joint flexion, fingertip pressure, and dynamic friction. It records the hand movement data of patients' self-training, providing doctors with accurate diagnostic basis and support for optimizing rehabilitation plans. At the same time, it can be combined with a virtual environment to provide patients with virtual training. The pneumatic tactile feedback and thermal feedback modules provide corresponding feedback based on the operation in the virtual environment, providing users with a realistic tactile and temperature experience.

[0056] In Embodiment Two, based on Embodiment One, the glove body 1 is provided with multiple receiving components (not shown in the figure). The joint bending sensing module 2, the fingertip pressure sensing module 3, and the pneumatic feedback module 4 are respectively inserted into the receiving components at their respective positions. The receiving components are fixedly mounted on the glove body 1, and the receiving components are made of elastic fabric pockets.

[0057] As described above, the housing is elastic, facilitating the quick insertion or removal of the joint bending sensing module 2, fingertip pressure sensing module 3, and pneumatic feedback module 4 into or from the housing for replacement. This facilitates upgrades and maintenance, and allows for customization of functions according to different user needs, enhancing applicability. Preferably, the housing is an elastic fabric pocket, which can be sewn onto the glove body 1 for insertion of each module.

[0058] In Example 3, based on Example 1, in order to better illustrate the joint bending sensing module 2 and the fingertip pressure sensing module 3, the preparation method of the joint bending sensing module 2 and the fingertip pressure sensing module 3 will be described below.

[0059] Both the joint bending sensing module 2 and the fingertip pressure sensing module 3 are fabricated using soft photolithography to process the first microchannel 23 and the second microchannel 33, respectively. This technology allows the dimensions of the first microchannel 23 and the second microchannel 33 to reach the micrometer level, significantly improving the sensitivity and accuracy of the joint bending sensing module 2 and the fingertip pressure sensing module 3.

[0060] By fabricating a photomask, cleaning the glass substrate, depositing a photosensitive film, exposing, developing, and silanizing the substrate, the desired first microchannel 23 pattern and second microchannel 33 pattern are etched on two glass substrates to form a punch. Then, unsolidified PDMS material is spin-coated onto the punch. Once the material solidifies, two PDMS films with a first groove 22 and a second groove 32 are obtained, namely the first elastic film 21 and the third elastic film 31, respectively.

[0061] Then, uncured PDMS material is spin-coated onto two other glass substrates. Once the material solidifies, the second elastic film 24 and the fourth elastic film 34 can be obtained. By controlling the spin-coating speed and adjusting the proportion of curing agent in the PDMS, first elastic film 21, second elastic film 24, third elastic film 31, and fourth elastic film 34 of different thicknesses can also be obtained.

[0062] Two elastic films 21 and 24 are bonded together after plasma cleaning to form a first microchannel 23. A first liquid metal 25 is injected into the first microchannel 23 using a flat-tipped syringe, and then encapsulated with Sil-Poxy silicone adhesive to obtain the joint bending sensing module 2.

[0063] Two third elastic films 31 and fourth elastic films 34 are bonded together after plasma cleaning to form a second microchannel 33. A second liquid metal 35 is injected into the second microchannel 33 using a flat-tipped syringe, and then encapsulated with Sil-Poxy silicone adhesive to obtain the fingertip pressure sensing module 3.

[0064] Working principle:

[0065] When the finger joint 12 is bent, the joint bending sensing module 2 is stretched, which causes the length of the first liquid metal 25 in the first microchannel 23 to change. The overall resistance of the first liquid metal 25 changes, which in turn causes the output voltage to change. The bending angle of the joint can be used to determine the bending status of the patient's finger joint.

[0066] When pressure is applied to the fingertip, the fingertip pressure sensing module 3 is squeezed, and the thickness of the fingertip pressure sensing module 3 becomes smaller. As a result, the thickness of the second liquid metal 35 in the second microchannel 33 becomes smaller, leading to a smaller cross-sectional area. The change in cross-sectional area will cause a change in the resistance value of the second liquid metal 35. The change in resistance value will cause a change in the output voltage. Thus, the pressure applied to the fingertip can be used to determine the pressure applied to the finger 12 by the fingertip.

[0067] The pneumatic feedback module 4 is used to simulate environmental feedback with different forces and tactile sensations, making full use of the skin's tactile sensitivity to provide a reaction force feedback to the user's finger movements 12. It can also be used in conjunction with a virtual environment, providing realistic feedback to the patient when they make grasping movements in the virtual environment.

[0068] In summary, this utility model proposes a flexible rehabilitation glove that integrates multimodal sensing and feedback functions. It can realize pressure and joint posture sensing and feedback based on the characteristics of liquid metal and pneumatics, and has a modular design of functional units. Elastic fabric pockets are sewn on the corresponding positions on the glove for the insertion of the sensing and feedback module, which not only facilitates upgrades and maintenance, but also allows for customization of functions according to different user needs, thereby improving applicability.

[0069] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0070] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0071] Based on the preferred embodiments of this utility model described above, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A multimodal sensory feedback rehabilitation glove, comprising a glove body (1), wherein the glove body (1) includes a palm portion (11) and finger portions (12) connected thereto, characterized in that: A joint bending sensing module (2) is provided at the back joint of the finger part (12), a fingertip pressure sensing module (3) is provided at the fingertip of the finger part (12), and a pneumatic feedback module (4) for providing tactile force feedback is also provided on the finger part (12). The joint bending sensing module (2) and the fingertip pressure sensing module (3) are both equipped with microchannels that can accommodate liquid metal.

2. The multimodal sensory feedback rehabilitation glove according to claim 1, characterized in that: The joint bending sensing module (2) includes a first elastic film (21), a first groove (22) is provided on the first elastic film (21), and a second elastic film (24) is provided on one side of the first elastic film (21) for closing the first groove (22) to form a first microchannel (23).

3. The multimodal sensory feedback rehabilitation glove according to claim 2, characterized in that: The first microchannel (23) adopts a serpentine loop structure.

4. The multimodal sensory feedback rehabilitation glove according to claim 1, characterized in that: The fingertip pressure sensing module (3) includes a third elastic film (31), on which a second groove (32) is formed, and a fourth elastic film (34) is provided on one side of the third elastic film (31) for closing the second groove (32) to form a second microchannel (33).

5. The multimodal sensory feedback rehabilitation glove according to claim 4, characterized in that: The second microchannel (33) adopts a fingerprint-like structure.

6. The multimodal sensory feedback rehabilitation glove according to claim 1, characterized in that: The pneumatic feedback module (4) includes a housing (41), a cover plate (42) is installed on one side of the housing (41), a baffle (43) is provided inside the housing (41), the baffle (43) divides the inner cavity of the housing (41) into two independent air chambers (45), and the housing (41) is also provided with two air vents (44) that are respectively connected to the two air chambers (45).

7. The multimodal sensory feedback rehabilitation glove according to claim 6, characterized in that: The air chamber (45) adopts a U-shaped structure, and a protrusion (46) is provided at the center of each air chamber (45).

8. The multimodal sensory feedback rehabilitation glove according to claim 1, characterized in that: The glove body (1) is provided with multiple receiving parts, and the joint bending sensing module (2), the fingertip pressure sensing module (3) and the pneumatic feedback module (4) are respectively inserted into the receiving parts at the corresponding positions.

9. The multimodal sensory feedback rehabilitation glove according to claim 8, characterized in that: The container is fixedly mounted on the glove body (1), and the container is made of elastic fabric pocket.

10. The multimodal sensory feedback rehabilitation glove according to claim 1, characterized in that: The joint bending sensing module (2) is provided at the tiger's mouth (111) on the back of the palm (11).

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